Method for accurately positioning puncture surgical robots on basis of electromagnetic positioning systems

Abstract

The invention discloses a method for accurately positioning puncture surgical robots on the basis of electromagnetic positioning systems, can be applied to puncture surgical robots and belongs to thefield of robot control. The method includes steps of (1), acquiring transformation matrixes between electromagnetic generator coordinate systems and sensor coordinate systems by the aid of magnetic field navigation devices; (2), computing transformation matrixes between robot coordinate systems and the sensor coordinate systems by the aid of robot kinematic models; (3), computing transformation matrixes between the electromagnetic generator coordinate systems and puncture surgical robot coordinate systems; (4), dividing and sampling robot work spaces and acquiring error information of samplingpoints; (5), carrying out error compensation on target points by the aid of spatial interpolation processes. The method has the advantages that surgical robot positioning errors can be reduced by theaid of the method, and accordingly the puncture surgical robots can be accurately positioned by the aid of the method; the method is high in precision, low in cost and simple in computation, and thelike.

Description

technical field [0001] The invention relates to a method for realizing precise positioning of a robot based on a magnetic field navigation device, in particular to a technology for realizing positioning error compensation of a robot using a space interpolation method, which can be applied to puncture surgery robots and belongs to the field of robot control. Background technique [0002] In complex surgical environments, precise spatial localization of robotic systems for puncture surgery is a key issue. As a new type of sensor, the magnetic locator can realize non-contact measurement and is not affected by occlusion. It is especially suitable for applications in densely populated and complex environments such as operating rooms. It is relatively low in price, easy to use, and widely adopted. However, when it is used in the field of surgical robots, its positioning accuracy is low, which cannot meet the requirements of high-precision surgery. [0003] The literature "Liu Sh...

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Problems solved by technology

However, when it is used in the field of surgical robots, its positioning accuracy is low, which cannot meet the requirements of high-precision surgery.

[0003] The literature "Liu Shaoli, Yang Xiangdong, Wu Liao, et al. Research on space positioning method of minimally invasive surgery robot based on magnetic locator [J]. Mechanical Design and Manufacturing, 2011 (12): 1-3." proposed a minimally invasive surgery The robot space positioning method, which uses the traditional singular value decomposition method to achieve the registration of the magnetic positioning transmitter space and the robot space, but this method has the following two shortcomings: the calculation is complicated and the positioning accuracy is not high enough

[0004] The application number is 201310451794.9, which discloses a calibration error compensation method based on fuzzy neural network for industrial robots, but this method needs to use a laser tracker to measure the pose of the robot, which cannot be applied in the surgical environment, and the required sampling points are relatively large. Many, large amount of calculation

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